Visual guiding-based robot workpiece grabbing method

Abstract

The invention provides a visual guiding-based robot workpiece grabbing method, and belongs to the field of robot visual recognition and positioning. The method comprises the following steps of (1) establishing templates of target workpieces in advance, collecting images of the target workpieces, and acquiring edge feature images of the templates and edge feature images of the target workpieces; (2) acquiring the deflection angle of each target workpiece relative to the corresponding template by utilizing the minimum enclosing rectangle of the edge feature image of the target workpiece, and establishing a compensation template set by utilizing the deflection angles and the edge feature images of the templates; (3) matching the edge feature images of the target workpieces and the compensation template set, and recognizing the target workpieces and acquiring the center coordinates of the target workpieces under a visual coordinate system; (4) converting the visual coordinate system to a robot user coordinate system; and (5) selecting a reference point, and uniquely identifying the same target workpiece by utilizing the time and the position to complete positioning grabbing. The targetworkpieces can be accurately recognized by utilizing the method.

Description

technical field [0001] The invention belongs to the field of robot visual recognition and positioning, and in particular relates to a method for grabbing a robot workpiece based on vision guidance. Background technique [0002] In recent years, thanks to the country's vigorous development of the robot industry, robot technology has been able to flourish, and people's requirements for production line automation have continued to increase. Therefore, robots are also widely used in various industrial production links. The traditional robot sorting process generally uses teaching or offline programming to control the movement of the robot, which is difficult to adapt to the complex and changeable working environment in the current industrial production. The emergence of vision technology makes the robot have a higher degree of intelligence And stronger environmental adaptability, robots equipped with vision systems have been widely used in the fields of electronic appliances, au...

AI Technical Summary

Problems solved by technology

The easiest way to locate a known target in an image is to search for the same pixel distribution area, which requires strict restrictions on the pose and lighting conditions of the target workpiece, which is very difficult in the actual production environment. Difficult to achieve; at the same time, in order to avoid the situation that the workpiece is missed, the camera is generally set to take multiple shots of the same target workpiece, which will cause the robot control system to obtain repeated information, increase the amount of calculation, and reduce efficiency

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